OpenRaiser/Intern-Atlas huggingface dataset:
Evaluation of an Uncertainty-Aware Late Fusion Algorithm for Multi-Source Bird's Eye View Detections Under Controlled Noise
Venue: arXiv cs.RO 2025
Year: 2025

Reliable multi-source fusion is crucial for robust perception in autonomous systems. However, evaluating fusion performance independently of detection errors remains challenging. This work introduces a systematic evaluation framework that injects controlled noise into ground-truth bounding boxes to isolate the fusion process. We then propose Unified Kalman Fusion (UniKF), a late-fusion algorithm based on Kalman filtering to merge Bird's Eye View (BEV) detections while handling synchronization issues. Experiments show that UniKF outperforms baseline methods across various noise levels, achieving up to 3x lower object's positioning and orientation errors and 2x lower dimension estimation errors, while maintaining nearperfect precision and recall between 99.5% and 100%.
On the dynamics of affective states during play and the role of confusion
Venue: arXiv cs.HC 2025
Year: 2025

Video game designers often view confusion as undesirable, yet it is inevitable, as new players must adapt to new interfaces and mechanics in an increasingly varied and innovative game market, which is more popular than ever. Research suggests that confusion can contribute to a positive experience, potentially motivating players to learn. The state of confusion in video games should be further investigated to gain more insight into the learning experience of play and how it affects the player experience. In this article, we design a study to collect learning-related affects for users playing a game prototype that intentionally confuses the player. We assess the gathered affects against a complex learning model, affirming that, in specific instances, the player experience aligns with the learning experiences. Moreover, we identify correlations between these affects and the Player Experience Inventory constructs, particularly concerning flow experiences.
AoI-Energy-Spectrum Optimization in Post-Disaster Powered Communication Intelligent Network via Hierarchical Heterogeneous Graph Neural Network
Venue: arXiv cs.NI 2025
Year: 2025

This paper designs a post-disaster powered communication intelligent network (PDPCIN) to address communication disruptions caused by ground base station (GBS) failures within the post-disaster area. PDPCIN employs unmanned aerial vehicles (UAVs) to provide wireless data collection (WDC) and wireless energy transmission (WET) for affected areas and leverages low earth orbit satellites (LEO SATs) to relay UAV data to the nearest survival GBS. To ensure basic post-disaster communication while co-optimizing age of information (AoI), energy efficiency, and spectrum efficiency, intelligent synchronization-UAV (IS-UAV) architecture, AoI-based four thresholds updating (AFTU) mechanism, and Dynamic multi-LEO access (DMLA) strategy are proposed. However, three key challenges remain: time-varying task-resource imbalances, complex topology caused by multi-device scheduling, and nonlinear coupling in multidimensional metric optimization, making system optimization NP-hard. Therefore, this paper proposes a hierarchical heterogeneous graph neural networks (HHGNN) framework. It models heterogeneous device nodes and their communication relations as a hierarchical heterogeneous graph structure, integrating our defined graph sensing, exchange, and mask layer to handle the network's input, feature propagation, and output. To search appropriate number of single-LEO SATs, we propose single-LEO SAT density optimization (S-LSDO) algorithm. Finally, we compare the proposed scheme with state-of-the-art benchmarks to validate its superior collaborative optimization of AoI, energy efficiency, and spectrum efficiency. Based on this, we derive the expressions for the expected values of AoI and stagnant AoI proportion.
Lessons from a Chimp: AI "Scheming" and the Quest for Ape Language
Venue: arXiv cs.AI 2025
Year: 2025

We examine recent research that asks whether current AI systems may be developing a capacity for "scheming" (covertly and strategically pursuing misaligned goals). We compare current research practices in this field to those adopted in the 1970s to test whether non-human primates could master natural language. We argue that there are lessons to be learned from that historical research endeavour, which was characterised by an overattribution of human traits to other agents, an excessive reliance on anecdote and descriptive analysis, and a failure to articulate a strong theoretical framework for the research. We recommend that research into AI scheming actively seeks to avoid these pitfalls. We outline some concrete steps that can be taken for this research programme to advance in a productive and scientifically rigorous fashion.
ElliottAgents: A Natural Language-Driven Multi-Agent System for Stock Market Analysis and Prediction
Venue: arXiv cs.CE 2025
Year: 2025

This paper presents ElliottAgents, a multi-agent system leveraging natural language processing (NLP) and large language models (LLMs) to analyze complex stock market data. The system combines AI-driven analysis with the Elliott Wave Principle to generate human-comprehensible predictions and explanations. A key feature is the natural language dialogue between agents, enabling collaborative analysis refinement. The LLM-enhanced architecture facilitates advanced language understanding, reasoning, and autonomous decision-making. Experiments demonstrate the system's effectiveness in pattern recognition and generating natural language descriptions of market trends. ElliottAgents contributes to NLP applications in specialized domains, showcasing how AI-driven dialogue systems can enhance collaborative analysis in data-intensive fields. This research bridges the gap between complex financial data and human understanding, addressing the need for interpretable and adaptive prediction systems in finance.
Set Shaping Theory and the Foundations of Redundancy-Free Testable Codes
Venue: arXiv cs.IT 2025
Year: 2025

To render a sequence testable, namely capable of identifying and detecting errors, it is necessary to apply a transformation that increases its length by introducing statistical dependence among symbols, as commonly exemplified by the addition of parity bits. However, since the decoder does not have prior knowledge of the original symbols, it must treat the artificially introduced symbols as if they were independent. Consequently, these additional symbols must be transmitted, even though their conditional probability, under ideal and error free conditions, would be zero. This sequence extension implies that not all symbol combinations of the new length are practically realizable: if an error modifies a sequence, making it inadmissible such an error becomes detectable. Recent developments in Set Shaping Theory have revealed a surprising result: it is always possible to transform a sequence into a longer version by carefully selecting which longer sequences are allowed, in such a way that the overall set of sequences becomes more structured and less complex than the original. This means that even though the sequence is extended and dependencies are introduced between symbols, the total amount of information contained in the new set does not increase proportionally on the contrary, it can be slightly reduced. In other words, one can construct a new set of longer sequences where each one corresponds uniquely to an original sequence, but the entire set is designed in such a way that it can be treated as if the symbols were independent, making encoding simpler. This allows sequence to become testable capable of detecting errors without adding visible redundancy or increasing the informational content.
Deepfakes in Criminal Investigations: Interdisciplinary Research Directions for CMC Research
Venue: arXiv cs.CY 2025
Year: 2025

The emergence of deepfake technologies offers both opportunities and significant challenges. While commonly associated with deception, misinformation, and fraud, deepfakes may also enable novel applications in high-stakes contexts such as criminal investigations. However, these applications raise complex technological, ethical, and legal questions. We adopt an interdisciplinary approach, drawing on computer science, philosophy, and law, to examine what it takes to responsibly use deepfakes in criminal investigations and argue that computer-mediated communication (CMC) research, especially based on social media corpora, can provide crucial insights for understanding the potential harms and benefits of deepfakes. Our analysis outlines key research directions for the CMC community and underscores the need for interdisciplinary collaboration in this evolving domain.
Beyond Weaponization: NLP Security for Medium and Lower-Resourced Languages in Their Own Right
Venue: arXiv cs.CL 2025
Year: 2025

Despite mounting evidence that multilinguality can be easily weaponized against language models (LMs), works across NLP Security remain overwhelmingly English-centric. In terms of securing LMs, the NLP norm of "English first" collides with standard procedure in cybersecurity, whereby practitioners are expected to anticipate and prepare for worst-case outcomes. To mitigate worst-case outcomes in NLP Security, researchers must be willing to engage with the weakest links in LM security: lower-resourced languages. Accordingly, this work examines the security of LMs for lower- and medium-resourced languages. We extend existing adversarial attacks for up to 70 languages to evaluate the security of monolingual and multilingual LMs for these languages. Through our analysis, we find that monolingual models are often too small in total number of parameters to ensure sound security, and that while multilinguality is helpful, it does not always guarantee improved security either. Ultimately, these findings highlight important considerations for more secure deployment of LMs, for communities of lower-resourced languages.
OMAR-RQ: Open Music Audio Representation Model Trained with Multi-Feature Masked Token Prediction
Venue: arXiv cs.SD 2025
Year: 2025

Developing open-source foundation models is essential for advancing research in music audio understanding and ensuring access to powerful, multipurpose representations for music information retrieval. We present OMAR-RQ, a model trained with self-supervision via masked token classification methodologies using a large-scale dataset with over 330,000 hours of music audio. We experiment with different input features and quantization options, and achieve state-of-the-art performance in music tagging, pitch estimation, chord recognition, beat tracking, segmentation, and difficulty estimation among open self-supervised models. We open-source our training and evaluation pipelines and model weights, available at https://github.com/mtg/omar-rq.
On Combining Two Server Control Policies for Energy Efficiency
Venue: arXiv cs.PF 2025
Year: 2025

Two popular server control policies are available for reducing energy consumption while maintaining acceptable performance levels: server speed scaling and the ability to turn servers off (and on). In this work, we explore the question of whether there are synergistic effects between these two mechanisms. To do this, we employ a continuous-time Markov chain model where the server can be turned off (and turning the server back on takes some time) and where the speed of the server can take on two values: a nominal operating speed and a reduced operating speed. For a cost function that is linear in the mean response time and server power consumption, we suggest that the mechanisms are not synergistic in that for all system loads, one mechanism is dominant in that if the other mechanism is also employed, there is only a small decrease in cost.
Multi-robot Aerial Soft Manipulator For Floating Litter Collection
Venue: arXiv cs.RO 2025
Year: 2025

Removing floating litter from water bodies is crucial to preserving aquatic ecosystems and preventing environmental pollution. In this work, we present a multi-robot aerial soft manipulator for floating litter collection, leveraging the capabilities of aerial robots. The proposed system consists of two aerial robots connected by a flexible rope manipulator, which collects floating litter using a hook-based tool. Compared to single-aerial-robot solutions, the use of two aerial robots increases payload capacity and flight endurance while reducing the downwash effect at the manipulation point, located at the midpoint of the rope. Additionally, we employ an optimization-based rope-shape planner to compute the desired rope shape. The planner incorporates an adaptive behavior that maximizes grasping capabilities near the litter while minimizing rope tension when farther away. The computed rope shape trajectory is controlled by a shape visual servoing controller, which approximates the rope as a parabola. The complete system is validated in outdoor experiments, demonstrating successful grasping operations. An ablation study highlights how the planner's adaptive mechanism improves the success rate of the operation. Furthermore, real-world tests in a water channel confirm the effectiveness of our system in floating litter collection. These results demonstrate the potential of aerial robots for autonomous litter removal in aquatic environments.
Limits of Safe AI Deployment: Differentiating Oversight and Control
Venue: arXiv cs.AI 2025
Year: 2025

Oversight and control, which we collectively call supervision, are often discussed as ways to ensure that AI systems are accountable, reliable, and able to fulfill governance and management requirements. However, the requirements for "human oversight" risk codifying vague or inconsistent interpretations of key concepts like oversight and control. This ambiguous terminology could undermine efforts to design or evaluate systems that must operate under meaningful human supervision. This matters because the term is used by regulatory texts such as the EU AI Act. This paper undertakes a targeted critical review of literature on supervision outside of AI, along with a brief summary of past work on the topic related to AI. We next differentiate control as ex-ante or real-time and operational rather than policy or governance, and oversight as performed ex-post, or a policy and governance function. Control aims to prevent failures, while oversight focuses on detection, remediation, or incentives for future prevention. Building on this, we make three contributions. 1) We propose a framework to align regulatory expectations with what is technically and organizationally plausible, articulating the conditions under which each mechanism is possible, where they fall short, and what is required to make them meaningful in practice. 2) We outline how supervision methods should be documented and integrated into risk management, and drawing on the Microsoft Responsible AI Maturity Model, we outline a maturity model for AI supervision. 3) We explicitly highlight boundaries of these mechanisms, including where they apply, where they fail, and where it is clear that no existing methods suffice. This foregrounds the question of whether meaningful supervision is possible in a given deployment context, and can support regulators, auditors, and practitioners in identifying both present and future limitations.
Multimodal Alignment with Cross-Attentive GRUs for Fine-Grained Video Understanding
Venue: arXiv cs.CV 2025
Year: 2025

Fine-grained video classification requires understanding complex spatio-temporal and semantic cues that often exceed the capacity of a single modality. In this paper, we propose a multimodal framework that fuses video, image, and text representations using GRU-based sequence encoders and cross-modal attention mechanisms. The model is trained using a combination of classification or regression loss, depending on the task, and is further regularized through feature-level augmentation and autoencoding techniques. To evaluate the generality of our framework, we conduct experiments on two challenging benchmarks: the DVD dataset for real-world violence detection and the Aff-Wild2 dataset for valence-arousal estimation. Our results demonstrate that the proposed fusion strategy significantly outperforms unimodal baselines, with cross-attention and feature augmentation contributing notably to robustness and performance.
A Concept for Autonomous Problem-Solving in Intralogistics Scenarios
Venue: arXiv cs.CE 2025
Year: 2025

Achieving greater autonomy in automation systems is crucial for handling unforeseen situations effectively. However, this remains challenging due to technological limitations and the complexity of real-world environments. This paper examines the need for increased autonomy, defines the problem, and outlines key enabling technologies. A structured concept is proposed, consisting of three main steps: context enrichment, situation analysis, and generation of solution strategies. By following this approach, automation systems can make more independent decisions, reducing the need for human intervention. Additionally, possible realizations of the concept are discussed, especially the use of Large Language Models. While certain tasks may still require human assistance, the proposed approach significantly enhances the autonomy of automation systems, enabling more adaptive and intelligent problem-solving capabilities.
Model-Based Control for Power-to-X Platforms: Knowledge Integration for Digital Twins
Venue: arXiv cs.CE 2025
Year: 2025

Offshore Power-to-X platforms enable flexible conversion of renewable energy, but place high demands on adaptive process control due to volatile operating conditions. To face this challenge, using Digital Twins in Power-to-X platforms is a promising approach. Comprehensive knowledge integration in Digital Twins requires the combination of heterogeneous models and a structured representation of model information. The proposed approach uses a standardized description of behavior models, semantic technologies and a graph-based model understanding to enable automatic adaption and selection of suitable models. It is implemented using a graph-based knowledge representation with Neo4j, automatic data extraction from Asset Administration Shells and port matching to ensure compatible model configurations.
RECA-PD: A Robust Explainable Cross-Attention Method for Speech-based Parkinson's Disease Classification
Venue: arXiv cs.SD 2025
Year: 2025

Parkinson's Disease (PD) affects over 10 million people globally, with speech impairments often preceding motor symptoms by years, making speech a valuable modality for early, non-invasive detection. While recent deep-learning models achieve high accuracy, they typically lack the explainability required for clinical use. To address this, we propose RECA-PD, a novel, robust, and explainable cross-attention architecture that combines interpretable speech features with self-supervised representations. RECA-PD matches state-of-the-art performance in Speech-based PD detection while providing explanations that are more consistent and more clinically meaningful. Additionally, we demonstrate that performance degradation in certain speech tasks (e.g., monologue) can be mitigated by segmenting long recordings. Our findings indicate that performance and explainability are not necessarily mutually exclusive. Future work will enhance the usability of explanations for non-experts and explore severity estimation to increase the real-world clinical relevance.
SecureT2I: No More Unauthorized Manipulation on AI Generated Images from Prompts
Venue: arXiv cs.CR 2025
Year: 2025

Text-guided image manipulation with diffusion models enables flexible and precise editing based on prompts, but raises ethical and copyright concerns due to potential unauthorized modifications. To address this, we propose SecureT2I, a secure framework designed to prevent unauthorized editing in diffusion-based generative models. SecureT2I is compatible with both general-purpose and domain-specific models and can be integrated via lightweight fine-tuning without architectural changes. We categorize images into a permit set and a forbid set based on editing permissions. For the permit set, the model learns to perform high-quality manipulations as usual. For the forbid set, we introduce training objectives that encourage vague or semantically ambiguous outputs (e.g., blurred images), thereby suppressing meaningful edits. The core challenge is to block unauthorized editing while preserving editing quality for permitted inputs. To this end, we design separate loss functions that guide selective editing behavior. Extensive experiments across multiple datasets and models show that SecureT2I effectively degrades manipulation quality on forbidden images while maintaining performance on permitted ones. We also evaluate generalization to unseen inputs and find that SecureT2I consistently outperforms baselines. Additionally, we analyze different vagueness strategies and find that resize-based degradation offers the best trade-off for secure manipulation control.
Interaction Techniques that Encourage Longer Prompts Can Improve Psychological Ownership when Writing with AI
Venue: arXiv cs.HC 2025
Year: 2025

Writing longer prompts for an AI assistant to generate a short story increases psychological ownership, a user's feeling that the writing belongs to them. To encourage users to write longer prompts, we evaluated two interaction techniques that modify the prompt entry interface of chat-based generative AI assistants: pressing and holding the prompt submission button, and continuously moving a slider up and down when submitting a short prompt. A within-subjects experiment investigated the effects of such techniques on prompt length and psychological ownership, and results showed that these techniques increased prompt length and led to higher psychological ownership than baseline techniques. A second experiment further augmented these techniques by showing AI-generated suggestions for how the prompts could be expanded. This further increased prompt length, but did not lead to improvements in psychological ownership. Our results show that simple interface modifications like these can elicit more writing from users and improve psychological ownership.
Towards Machine Theory of Mind with Large Language Model-Augmented Inverse Planning
Venue: arXiv cs.AI 2025
Year: 2025

We propose a hybrid approach to machine Theory of Mind (ToM) that uses large language models (LLMs) as a mechanism for generating hypotheses and likelihood functions with a Bayesian inverse planning model that computes posterior probabilities for an agent's likely mental states given its actions. Bayesian inverse planning models can accurately predict human reasoning on a variety of ToM tasks, but these models are constrained in their ability to scale these predictions to scenarios with a large number of possible hypotheses and actions. Conversely, LLM-based approaches have recently demonstrated promise in solving ToM benchmarks, but can exhibit brittleness and failures on reasoning tasks even when they pass otherwise structurally identical versions. By combining these two methods, this approach leverages the strengths of each component, closely matching optimal results on a task inspired by prior inverse planning models and improving performance relative to models that utilize LLMs alone or with chain-of-thought prompting, even with smaller LLMs that typically perform poorly on ToM tasks. We also exhibit the model's potential to predict mental states on open-ended tasks, offering a promising direction for future development of ToM models and the creation of socially intelligent generative agents.